/**
 * @file BrushWindedPlanner.h
 * @author  
 * @brief 边刷缠绕异常控制设定
 * @version 1.0
 * @date 2021-03-31
 * 
 * @copyright Copyright (c) 2020
 * 
 */

#pragma once

namespace  behavior_controller
{
        class BrushWindedPlanner
        {
        private:
            /* data */
        public:
            BrushWindedPlanner(/* args */){};
            ~BrushWindedPlanner(){};
            void run(double &linear_vel, double &angular_vel);
            double time_now=0;
            bool finished=true;
        };
        //static 
        extern BrushWindedPlanner brush_winded_planner;
}